CN220375468U - Pallet assembly, transfer robot and warehousing system - Google Patents

Abstract

The utility model provides a tray subassembly, transfer robot and warehouse system relates to intelligent storage technical field for solve the workbin and be difficult to shift out technical problem. The tray assembly comprises a tray, two clamping mechanisms and an adjusting mechanism; the two clamping mechanisms are movably connected to the tray and symmetrically arranged at two sides of the direction of the feed box entering and exiting the tray, and the two clamping mechanisms can move in opposite directions or in opposite directions so as to clamp or loosen the feed box; each clamping mechanism comprises a connecting part and a clamping assembly connected with the connecting part, the clamping assembly is rotationally connected to the tray through the connecting part, and the connecting part can slide along the direction perpendicular to the direction of the feed box entering and exiting the tray; the adjusting mechanism is arranged on the tray and is connected with the connecting part; when the feed box moves out of the tray, the connecting part can drive the adjusting mechanism to move towards the direction of the edge of the width direction of the tray so as to reduce the clamping force between the clamping component and the feed box. The utility model can avoid the workbin to be blocked.

Description

Pallet assembly, transfer robot and warehousing system

Technical Field

The embodiment of the disclosure relates to the technical field of intelligent warehousing, in particular to a tray assembly, a transfer robot and a warehousing system.

Background

With the development of the logistics industry, the transfer robot is gradually applied to the transfer work of the container, so that the transfer efficiency of the container can be improved; therefore, the transfer robot has become a research hotspot in the logistics industry.

In the related art, the transfer robot comprises a rack, a tray assembly and a fork, wherein the tray assembly and the fork are arranged on the rack, and the fork is used for placing a bin positioned on a storage shelf on the tray assembly, or placing a bin positioned on the tray assembly on the storage shelf. To prevent the bin from being offset on the tray assembly, two adjustment mechanisms are typically provided on the tray assembly at intervals, the two adjustment mechanisms being capable of moving toward or away from each other to clamp the bin.

However, when the bin is removed from the tray assembly, the adjustment mechanism tends to jam the bin, making it difficult to remove the bin.

Disclosure of Invention

In view of the above, embodiments of the present disclosure provide a tray assembly, a transfer robot, and a warehouse system for preventing a bin from being stuck, improving convenience of bin picking.

In order to achieve the above object, the embodiments of the present disclosure provide the following technical solutions:

a first aspect of embodiments of the present disclosure provides a tray assembly for mounting on a rack; the tray assembly comprises a tray, two clamping mechanisms and an adjusting mechanism; the tray is used for bearing the feed box;

the two clamping mechanisms are movably connected with the tray and symmetrically arranged at two sides of the direction of the feed box entering and exiting the tray, and the two clamping mechanisms can move oppositely or reversely so as to clamp or unclamp the feed box; each clamping mechanism comprises a connecting part and a clamping assembly connected with the connecting part, the clamping assembly is rotationally connected to the tray through the connecting part, and the connecting part can slide along a direction perpendicular to the direction of the feed box entering and exiting the tray;

the adjusting mechanism is arranged on the tray and is connected with the connecting part; when the feed box moves out of the tray, the connecting part can drive the adjusting mechanism to move towards the direction of the edge of the width direction of the tray so as to reduce the clamping force between the clamping assembly and the feed box, and the clamping force comprises the following components:

in an alternative implementation manner, the number of the connecting parts in each clamping mechanism is two; the two connecting parts are arranged at intervals along the direction of the feed box entering and exiting the tray; one connecting part is rotationally connected with one end of the clamping assembly, and the other connecting part is rotationally connected with the other end of the clamping assembly;

the number of the adjusting mechanisms is two, and the two adjusting mechanisms are arranged in one-to-one correspondence with the two connecting parts.

In an alternative implementation manner, the adjusting mechanism comprises an adjusting piece and a first elastic reset piece, the adjusting piece comprises an adjusting rod and an adjusting head arranged at one end of the adjusting rod, and the connecting part is rotationally connected in the adjusting head;

the first elastic resetting piece is sleeved on the adjusting rod.

In an alternative implementation, the clamping assembly includes a first baffle coupled to the connection portion;

when the feed box does not enter the tray, one end of the adjusting rod, which is away from the adjusting head, is contacted with the rack, and the first elastic reset piece is in a compressed state, so that a first preset included angle is formed between the first baffle and the direction perpendicular to the direction of the feed box entering and exiting the tray.

In an alternative implementation manner, the first preset included angle is greater than or equal to 0 ° and less than or equal to 10 °.

In an alternative implementation manner, the adjusting mechanism further comprises a linear bearing, and the adjusting rod is arranged in the linear bearing in a penetrating manner;

one end of the first elastic reset piece is propped against the linear bearing, and the other end of the first elastic reset piece is propped against the adjusting head.

In an alternative implementation manner, the tray comprises a tray body and two connecting brackets, wherein the two connecting brackets are arranged on the tray body and are symmetrically arranged relative to the direction of the feed box entering and exiting the tray;

the connecting part is rotationally connected to the connecting bracket and can slide along a direction perpendicular to the direction of the feed box entering and exiting the tray; a part of the clamping assembly is positioned above the connecting bracket, and the rest part of the clamping assembly is positioned above the tray body;

the adjusting mechanism is arranged on the connecting support.

In an alternative implementation manner, the connecting bracket comprises a first connecting plate and a second connecting plate, and the first connecting plate is connected with the tray body;

the second connecting plate is arranged on the first connecting plate, and a second preset included angle is formed between the second connecting plate and the first connecting plate;

the second connecting plate is provided with a through hole, and the linear bearing penetrates through the through hole.

In an alternative implementation, the clamping assembly further comprises a second baffle and a third baffle;

one end of the first baffle is rotatably connected to the tray through a first hinge shaft; the other end of the first baffle is hinged with the second baffle;

one end of the second baffle, which is away from the first baffle, is hinged with the third baffle;

one end of the third baffle, which is away from the second baffle, is rotationally connected with the tray through a second hinge shaft;

the first hinge shaft constitutes one of the connection portions, and the second hinge shaft constitutes the other of the connection portions.

In an alternative implementation manner, the clamping mechanism further includes two second elastic restoring members, one of the second elastic restoring members is sleeved on the first hinge shaft, the other second elastic restoring member is sleeved on the second hinge shaft, and when the feed box moves out of the tray, the two second elastic restoring members are used for driving one of the clamping mechanisms to move towards the other clamping mechanism.

A second aspect of embodiments of the present disclosure provides a pallet assembly comprising a frame, a fork, and a pallet assembly as described in the first aspect;

the tray assembly is arranged on the frame; when the feed box does not enter the tray assembly, one end of the adjusting rod of the tray assembly, which is away from the adjusting head, is contacted with the rack;

the fork is arranged on the frame and moves up and down along the frame.

A third aspect of the disclosed embodiments provides a warehousing system comprising a transfer robot as set forth in the second aspect.

In the tray subassembly, transfer robot and warehouse system that this disclosed embodiment provided, can drive adjustment mechanism through connecting portion and remove towards the direction of tray at width direction edge to reduce the contained angle between clamping assembly and the width direction of tray, and then reduce the clamping force between clamping assembly and the workbin, namely, reduce the component of clamping force in the direction of workbin business turn over tray, prevented that the workbin from being blocked when shifting out the tray, reduced the shift-out degree of difficulty of workbin.

In addition to the technical problems, technical features constituting the technical solutions, and beneficial effects brought by the technical features of the technical solutions described above, other technical problems that the pallet assembly, the transfer robot, and the warehouse system provided in the embodiments of the present disclosure can solve, other technical features included in the technical solutions, and beneficial effects brought by the technical features, further detailed description will be made in the detailed description.

Drawings

In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, a brief description will be given below of the drawings required for the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present disclosure, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a perspective view of a tray assembly provided by an embodiment of the present disclosure;

FIG. 2 is a top view of a tray assembly provided by an embodiment of the present disclosure;

FIG. 3 is a front view of a tray assembly provided by an embodiment of the present disclosure;

FIG. 4 is a schematic diagram of the structure of an adjustment mechanism and clamping mechanism provided by an embodiment of the present disclosure;

FIG. 5 is a schematic view of the structure of the adjusting mechanism and the connecting portion provided in an embodiment of the present disclosure;

fig. 6 is a schematic structural diagram of a transfer robot according to an embodiment of the disclosure.

Reference numerals illustrate:

100: a tray assembly;

110: a tray; 111: a tray body; 112: a connecting bracket; 1121: a first connection plate; 1122: a second connecting plate; 113: a bearing surface;

120: a clamping mechanism; 121: a connection part; 122: a clamping assembly; 1221: a first baffle; 1222: a second baffle; 1223: a third baffle; 123: a second elastic restoring member;

130: an adjusting mechanism; 131: an adjusting member; 1311: an adjusting rod; 1312: adjusting the head; 1312a: a receiving chamber; 1312b: a connection hole; 132: a first elastic restoring member; 133: a linear bearing; 134: a protrusion;

140: a first hinge shaft; 150: a second hinge shaft;

300: a frame; 310: a movable base; 320: a lifting frame;

400: and (5) a fork.

Detailed Description

As described in the background art, the problem that the bin is easy to be blocked by the adjusting mechanism when the bin is taken out from the tray assembly exists in the related art, and the inventor finds that the problem occurs because the included angle between the first baffle plate of the clamping assembly and the direction perpendicular to the direction in which the bin enters and exits the tray is relatively large, and the connection between the first baffle plate and the tray is fixed, so that the component force of the clamping force between the clamping assembly and the bin is relatively large in the direction in which the bin enters and exits the tray when the bin is moved out of the tray, the bin is blocked, and the difficulty of moving the bin out is increased.

To above-mentioned technical problem, this disclosed embodiment provides a tray subassembly, transfer robot and warehouse system, can drive adjustment mechanism through connecting portion and remove towards the direction of tray at width direction edge to reduce the contained angle between the width direction of clamp assembly and tray, and then reduce the clamping force between clamp assembly and the workbin, promptly, reduce the component of clamping force in the direction of workbin business turn over tray, by the card when preventing that the workbin from moving out the tray, reduced the removal degree of difficulty of workbin.

In order to make the above objects, features and advantages of the embodiments of the present disclosure more comprehensible, the technical solutions in the embodiments of the present disclosure will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present disclosure. It will be apparent that the described embodiments are only some, but not all, of the embodiments of the present disclosure. Based on the embodiments in this disclosure, all other embodiments that a person of ordinary skill in the art would obtain without making any inventive effort are within the scope of the present disclosure.

Example 1

Referring to fig. 1 to 5, the disclosed embodiments provide a tray assembly 100, where the tray assembly 100 may be applied to equipment in a warehouse system, for example, the tray assembly 100 may be applied to a transfer robot, that is, the tray assembly 100 may be mounted on a rack of the transfer robot; as another example, the tray assembly 100 may be applied to other devices, such as an elevator.

Referring to fig. 1 to 3, the tray assembly 100 includes a tray 110, and the tray 110 is used for carrying a bin 200. For example, the tray 110 has a bearing surface 113, the bearing surface 113 being for bearing the bin 200, and the bearing surface 113 may be an upper surface of the tray 110, for example, in the orientation shown in fig. 1. Wherein the tray 110 may be of a regular shape, such as a rectangle.

The tray assembly 100 further includes two clamping mechanisms 120, where the two clamping mechanisms 120 are movably connected to the tray 110, and the two clamping mechanisms 120 are further symmetrically disposed on two sides of the direction in which the bin 200 enters and exits the tray 110, that is, the two clamping mechanisms 120 are symmetrically disposed on the carrying surface 113 relative to the direction in which the bin 200 enters and exits the tray 110. It should be noted that, the direction of the bin 200 entering and exiting the tray 110 may be the length direction of the tray 110, i.e., the S direction in fig. 1.

Referring to fig. 2, each clamping mechanism 120 includes a connecting portion 121 and a clamping assembly 122. The clamping assembly 122 is coupled to the coupling portion 121 and is rotatably coupled to the tray 110 through the coupling portion 121. The connection part 121 may also move in a direction perpendicular to the direction in which the bin 200 enters and exits the tray 110, so that the connection part 121 may be rotated or have a linear motion. The connection portion 121 may be rotatably connected to the bearing surface 113 of the tray 110, or may be rotatably connected to another position of the tray 110.

It should be noted that, the connecting portion 121 is movably connected to the tray 110, it is understood that the connecting portion 121 may move relative to the tray 110, for example, a slotted hole may be disposed on the tray 110, and the connecting portion 121 is disposed in the slotted hole and may move along the length direction of the slotted hole, so as to implement the movable connection between the connecting portion 121 and the tray 110.

The two clamping mechanisms 120 can be moved toward or away from each other to clamp or unclamp the bin 200. In the initial state, the distance between the two clamping mechanisms 120 is smaller than the width of the bin 200; when the bin 200 enters the tray 110 along the length direction of the tray 110, the bin 200 abuts against the tray 110, so that the two clamping mechanisms 120 rotate anticlockwise around the corresponding connecting portions 121 respectively and move back to back, and the distance between the two clamping mechanisms 120 is adjusted by the interaction force between the two clamping mechanisms, so that the distance between the two clamping mechanisms 120 is matched with the width of the bin 200, and the bin 200 is clamped.

When the bin 200 moves out of the tray 110 along the length of the tray 110, the force between the bin 200 and the clamping mechanism 120 is reduced, and the clamping mechanism 120 rotates around the connection portion 121 and rotates clockwise to shorten the distance between the two clamping mechanisms 120. When the bin 200 is completely moved out of the tray 110, the two clamping mechanisms 120 return to the original state.

The tray assembly 100 further includes an adjustment mechanism 130, wherein the adjustment mechanism 130 is disposed on the tray 110 and is connected to the connection portion 121. When the bin 200 moves out of the tray 110, the connecting portion 121 may drive the adjusting mechanism 130 to move toward the edge of the tray 110 in the width direction, for example, taking the orientation shown in fig. 2 as an example, the connecting portion 121 may drive the adjusting mechanism 130 to move toward the right edge of the tray 110, so that the connecting position of the connecting portion 121 and the tray 110 moves toward the right edge of the tray 110, so as to reduce the included angle between the clamping assembly 122 and the tray 110 in the width direction, and further reduce the clamping force between the clamping assembly 122 and the bin 200, i.e., reduce the component force of the clamping force in the direction of the bin 200 entering and exiting the tray 110, prevent the bin 200 from being blocked when moving out of the tray 110, and reduce the difficulty in moving out the bin 200.

In one possible embodiment, the number of the connecting portions 121 in each clamping mechanism 120 is two, and the two connecting portions 121 are disposed at intervals along the direction in which the bin 200 enters and exits the tray 110, for example, the two connecting portions 121 are disposed at intervals along the length direction of the tray 110. One of the connection parts 121 is rotatably connected to one end of the clamping assembly 122, and the other connection part 121 is rotatably connected to the other end of the clamping assembly 122.

Correspondingly, the number of the adjusting mechanisms 130 is two, and the two adjusting mechanisms 130 are arranged in one-to-one correspondence with the two connecting parts 121, so that one connecting part 121 is connected with the corresponding adjusting mechanism 130. So set up, the contained angle between clamping assembly 122 and the width direction of tray 110 can be changed for tray 110 removes through two connecting portions 121, and then, can guarantee to adjust the contained angle between clamping assembly 122 and the width direction of tray 110 to suitable scope, prevented as far as by the card when workbin 200 shifts out tray 110 and is blocked, reduced the shift out degree of difficulty of workbin 200.

In one possible embodiment, referring to fig. 5, the adjustment mechanism 130 includes an adjustment member 131. Wherein the adjustment member 131 includes an adjustment lever 1311 and an adjustment head 1312.

The adjustment head 1312 is provided at one end of the adjustment lever 1311, and the adjustment head 1312 is connected to the tray 110 through the connection part 121. In an example, the adjustment head 1312 includes a top plate and a bottom plate disposed opposite to each other, and a side plate for connecting one ends of the top plate and the bottom plate, and the top plate, the bottom plate, and the side plate may be enclosed into a housing cavity 1312a, and the housing cavity 1312a is used for housing the connection part 121.

The top plate and the bottom plate are respectively provided with a connecting hole 1312b, the two connecting holes 1312b are aligned, one end of the connecting part 121 is rotationally connected in one connecting hole 1312b, and the other end of the connecting part 121 is rotationally connected in the other connecting hole 1312 b.

One end of the adjusting rod 1311, which is away from the adjusting head 1312, is provided with a protrusion 134, so that the contact area between the adjusting rod 1311 and the frame can be increased, and the moving path of the connecting part 121 can be conveniently limited.

The adjusting mechanism 130 further includes a first elastic restoring member 132, where the first elastic restoring member 132 is sleeved on the adjusting rod 1311. In one example, one end of the first elastic restoring member 132 may be pushed against the adjustment head 1312, and the other end may also be pushed against the protrusion 134.

In another example, the adjustment mechanism 130 further includes a linear bearing 133, and the adjustment rod 1311 is threaded within the linear bearing 133.

One end of the first elastic restoring member 132 is pushed against the linear bearing 133, and the other end of the first elastic restoring member 132 is pushed against the adjustment head 1312. The present embodiment can ensure that the connecting portion 121 can obtain stable linear motion with high sensitivity and high accuracy by the arrangement of the linear bearing 133. It should be noted that, the first elastic restoring element 132 is in pushing connection with the linear bearing 133, and the pushing may be understood as: when the connection portion 121 moves in the direction toward the widthwise edge of the tray 110, the first elastic restoring member 132 abuts against the linear bearing 133, and provides thrust to the linear bearing 133.

In one possible embodiment, the clamping assembly 122 includes a first barrier 1221, the first barrier 1221 being coupled to the connection 121, i.e., the first barrier 1221 is rotatably coupled to the tray 110 by the connection 121 to perform a rotational function of the first barrier 1221.

When the bin 200 does not enter the tray 110, an end of the adjustment lever 1311 facing away from the adjustment head 1312 contacts the frame such that the first resilient return 132 is in a compressed state. The frame may provide a force to the first resilient return 132 toward the tray 110 such that the first resilient return 132 is in a compressed state. The elastic force formed by the first elastic restoring member 132 acts on the first baffle 1221, so that a first predetermined included angle is formed between the first baffle 1221 and a direction perpendicular to the direction in which the bin 200 enters and exits the tray 110. Illustratively, the first preset included angle is greater than or equal to 0 ° and less than or equal to 10 °. The angle of the first preset included angle is very small and may even be 0, i.e. the length direction of the first baffle 1221 may be perpendicular to the direction in which the bin 200 enters and exits the tray 110, so that the risk of jamming during the process of moving the bin 200 out of the tray 110 may be reduced.

The two ends of the tray 110 are defined as a first end and a second end along the direction in which the bin 200 enters and exits the tray 110, the first end being spaced from the clamping mechanism 120 less than the second end, i.e., the first end is the front end in fig. 2. When the angle of the first predetermined included angle is small, the distance from the clamped position of the bin 200 to the first end is smaller than the distance to the second end, and the shorter bin 200 can be accommodated.

In addition, according to the size of the bin 200, the acting force of the first elastic restoring member 132 can be adjusted, so that the clamping mechanism 120 can clamp bins 200 with various sizes, and the application range of the tray assembly 100 is improved.

In this embodiment, the first elastic restoring member 132 includes a tension spring or a compression spring. When the first elastic restoring member 132 is a tension spring, the first elastic restoring member 132 changes from the expanded state to the compressed state. For another example, when the first elastic restoring member 132 is a compression spring, the first elastic restoring member 132 changes from a compressed state to a stretched state.

The clamping assembly 122 further includes a second baffle 1222 and a third baffle 1223; one end of the first barrier 1221 is rotatably coupled to the tray 110 through the first hinge shaft 140; the other end of the first barrier 1221 is hinged to the second barrier 1222; the first hinge shaft 140 constitutes one of the connection parts 121.

The end of the second panel 1222 facing away from the first panel 1221 is hinged to the third panel 1223, e.g., the end of the second panel 1222 facing away from the first panel 1221 is hinged to the third panel 1223 by a rotational axis.

One end of the third barrier 1223 facing away from the second barrier 1222 is rotatably connected to the tray 110 by the second hinge shaft 150; the second hinge shaft 150 constitutes another connection portion 121.

In the present embodiment, the first barrier 1221, the second barrier 1222, and the third barrier 1223 constitute a link mechanism, and each hinge point constitutes an apex of a quadrangle, preferably, an apex of a parallelogram. When the first barrier 1221 contacts with the bin 200, the bin 200 drives the first barrier 1221 to rotate counterclockwise about the first hinge shaft 140, and further, drives the second barrier 1222 and the third barrier 1223 to rotate counterclockwise through the first barrier 1221, increasing the distance between the two clamping mechanisms 120, so that the distance between the two clamping mechanisms 120 is adapted to the width of the bin 200, thereby clamping the bin 200.

The clamping mechanism 120 further includes two second elastic restoring members 123, wherein one second elastic restoring member 123 is sleeved on the first hinge shaft 140, and the other second elastic restoring member 123 is sleeved on the second hinge shaft 150.

When the bin 200 moves out of the tray 110, the two second elastic restoring members 123 are used to drive one of the clamping mechanisms 120 to move toward the other clamping mechanism 120, so that the two clamping mechanisms 120 are restored to the original state. Note that, in the initial state, the second shutter 1222 is closest to the two clamping mechanisms 120.

The second elastic restoring member 123 can also provide a certain force to the first baffle 1221, and cooperate with the first elastic restoring member 132 to make the tray assembly 100 have dual flexible supports, so that a first preset included angle between the first baffle 1221 and a direction perpendicular to the direction of the bin 200 entering and exiting the tray 110 is kept in a smaller state, so as to avoid clamping the bin 200.

In this embodiment, the second elastic restoring member 123 includes a torsion spring. One end of the torsion spring abuts against a side plate of the adjustment head 1312, and the other end abuts against the first damper 1221. When the two clamping mechanisms 120 move in opposite directions, the torsion spring receives the force of the first baffle 1221, and is elastically deformed and stored in the torsion spring, and then, when the bin 200 removes the tray 110, the elastic deformation preset stored in the torsion spring is released and drives the two clamping mechanisms 120 to restore to the original state.

In one possible embodiment, referring to fig. 2, the tray 110 includes a tray body 111 and two connection brackets 112, and the two connection brackets 112 are disposed on the tray body 111 and symmetrically disposed with respect to a direction in which the bin 200 enters and exits the tray 110.

The connecting part 121 is rotatably connected to the connecting bracket 112 and can slide along a direction perpendicular to the direction in which the bin 200 enters and exits the tray 110; for example, the connecting bracket 112 may have a circular slot, and the connecting portion 121 is disposed in the circular slot and can move along the length direction of the circular slot, so as to realize sliding connection between the connecting portion 121 and the tray 110.

A portion of the clamping assembly 122 is located above the connection bracket 112, and the remaining portion of the clamping assembly 122 is located above the tray body 111; an adjustment mechanism 130 is provided on the connection bracket 112. By this arrangement, the space of the tray body 111 can be saved, and the placement of the bin 200 is facilitated.

Referring to fig. 4, the connection bracket 112 includes a first connection plate 1121 and a second connection plate 1122, and the first connection plate 1121 is connected to the tray body 111; the first connecting plate 1121 may be directly connected to the tray body 111 or indirectly connected to the tray body 111. For example, one end of the first connecting plate 1121 is fixedly connected to the tray body 111 by a fixing plate, for example, the fixing plate is fixedly connected to the tray body 111 by a bolt.

The second connecting plate 1122 is disposed on the first connecting plate 1121, and the second connecting plate 1122 has a second predetermined angle with the first connecting plate 1121; as an example, the second connection plate 1122 is connected to an end of the first connection plate 1121 facing away from the tray body 111, and the second connection plate 1122 is perpendicular to the first connection plate 1121, so as to facilitate the setting of the adjustment mechanism 130.

The second connecting plate 1122 has a through hole, and the linear bearing 133 is disposed through the through hole, so that a portion of the adjusting rod 1311 is located at a side of the second connecting plate 1122 facing away from the tray body 111, and the remaining portion of the adjusting rod 1311 is located at a side of the second connecting plate 1122 facing toward the tray body 111. The linear bearing 133 is erected on the second connecting plate 1122, and the second connecting plate 1122 provides a supporting point for the linear bearing 133, so that the stability of the linear bearing 133 can be improved.

Example two

Referring to fig. 6, the present embodiment provides a transfer robot, which includes a frame 300, a pallet fork 400, and a pallet assembly 100 according to the first embodiment.

The tray assembly 100 is disposed on the rack 300; the forks 400 are mounted on the frame 300 and move up and down along the frame 300 to take out the bin located on the pallet or to place the bin on the pallet.

When the bin 200 does not enter the tray assembly 100, one end of the adjustment lever 1311 of the tray assembly 100 facing away from the adjustment head 1312 contacts the frame 300; the first elastic restoring member 132 of the tray assembly 100 is in a compressed state, and thus the elastic force formed by the first elastic restoring member 132 acts on the first baffle 1221, so that a first preset included angle is formed between the first baffle 1221 and the direction perpendicular to the direction in which the bin 200 enters and exits the tray 110, so that the clamping mechanism 120 of the tray assembly 100 has a certain pretightening force.

When the bin 200 moves out of the tray assembly 100, the connecting portion 121 of the tray assembly 100 can drive the adjusting mechanism 130 to move to the right edge of the tray 110, so that the connecting position of the connecting portion 121 and the tray 110 moves to the right edge of the tray 110, thereby reducing the included angle between the clamping assembly 122 and the width direction of the tray 110, and further reducing the clamping force between the clamping assembly 122 and the bin 200, that is, reducing the component force of the clamping force in the direction of the bin 200 entering and exiting the tray 110, preventing the bin 200 from being blocked when moving out of the tray 110, and reducing the moving difficulty of the bin 200.

In one possible embodiment, the frame 300 includes a moving base 310 and a lifting frame 320, the moving base 310 may include a bottom plate and a traveling mechanism (not shown) disposed on a side of the bottom plate facing the ground, the traveling mechanism may include a plurality of traveling wheels and a driving mechanism, the plurality of traveling wheels include a driving wheel and a driven wheel, the driving wheel is connected with the driving mechanism, and the moving base 310 may be moved or turned under the driving of the driving mechanism, so that the transfer robot is moved to the working position.

The bottom end of the lifting frame 320 is mounted on the moving base 310, for example, the bottom end of the lifting frame 320 is welded on the upper surface of the moving base 310, wherein the lifting frame 320 may include two spaced columns, the bottom ends of which are fixed on the moving base 310.

The fork 400 is slidably mounted on the lifting frame 320, for example, the fork may be slidably mounted on the upright, and the fork may be moved along a direction perpendicular to the moving base 310, so as to adjust a height of the fork 400 from the ground, thereby facilitating the fork 400 to pick and place the goods at different heights.

Example III

The embodiment provides a warehouse system, which comprises a carrying robot in the second embodiment and at least two shelves (shown in the figure), wherein a channel for the carrying robot to walk is formed between adjacent shelves; the transfer robot can walk through the aisle to place the bins 200 on shelves or to place the goods on shelves in other locations.

The structure and the working principle of the handling robot are described in detail in the above embodiments, and the description of this embodiment is not repeated here.

In this specification, each embodiment or implementation is described in a progressive manner, and each embodiment focuses on a difference from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

It should be noted that references in the specification to "one embodiment," "an example embodiment," "some embodiments," etc., indicate that the embodiment described may include a particular feature, structure, or characteristic, but every embodiment may not necessarily include the particular feature, structure, or characteristic. Moreover, such phrases are not necessarily referring to the same embodiment. Furthermore, when a particular feature, structure, or characteristic is described in connection with an embodiment, it is submitted that it is within the knowledge of one skilled in the art to effect such feature, structure, or characteristic in connection with other embodiments whether or not explicitly described.

Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present disclosure, and not for limiting the same; although the present disclosure has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some or all of the technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit of the corresponding technical solutions from the scope of the technical solutions of the embodiments of the present disclosure.

Claims (12)

1. A tray assembly for mounting on a rack; the tray assembly is characterized by comprising a tray, two clamping mechanisms and an adjusting mechanism; the tray is used for bearing the feed box;

the two clamping mechanisms are movably connected with the tray and symmetrically arranged at two sides of the direction of the feed box entering and exiting the tray, and the two clamping mechanisms can move oppositely or reversely so as to clamp or unclamp the feed box; each clamping mechanism comprises a connecting part and a clamping assembly connected with the connecting part, the clamping assembly is rotationally connected to the tray through the connecting part, and the connecting part can slide along a direction perpendicular to the direction of the feed box entering and exiting the tray;

the adjusting mechanism is arranged on the tray and is connected with the connecting part; when the feed box moves out of the tray, the connecting part can drive the adjusting mechanism to move towards the direction of the edge of the width direction of the tray so as to reduce the clamping force between the clamping assembly and the feed box.

2. The tray assembly of claim 1, wherein the number of said connection portions is two in each of said clamping mechanisms; the two connecting parts are arranged at intervals along the direction of the feed box entering and exiting the tray; one connecting part is rotationally connected with one end of the clamping assembly, and the other connecting part is rotationally connected with the other end of the clamping assembly;

the number of the adjusting mechanisms is two, and the two adjusting mechanisms are arranged in one-to-one correspondence with the two connecting parts.

3. The tray assembly according to claim 1 or 2, wherein the adjusting mechanism comprises an adjusting member and a first elastic restoring member, the adjusting member comprises an adjusting rod and an adjusting head arranged at one end of the adjusting rod, and the connecting part is rotatably connected in the adjusting head;

the first elastic resetting piece is sleeved on the adjusting rod.

4. A tray assembly according to claim 3, wherein the clamping assembly comprises a first baffle, the first baffle being connected to the connection portion;

when the feed box does not enter the tray, one end of the adjusting rod, which is away from the adjusting head, is contacted with the rack, and the first elastic reset piece is in a compressed state, so that a first preset included angle is formed between the first baffle and the direction perpendicular to the direction of the feed box entering and exiting the tray.

5. The tray assembly of claim 4, wherein the first predetermined included angle is greater than or equal to 0 ° and less than or equal to 10 °.

6. The tray assembly of claim 4, wherein the adjustment mechanism further comprises a linear bearing, the adjustment rod being disposed through the linear bearing;

one end of the first elastic reset piece is propped against the linear bearing, and the other end of the first elastic reset piece is propped against the adjusting head.

7. The tray assembly of claim 6, wherein the tray comprises a tray body and two connecting brackets, the two connecting brackets being disposed on the tray body and symmetrically disposed with respect to a direction of the bin into and out of the tray;

the connecting part is rotationally connected to the connecting bracket and can slide along a direction perpendicular to the direction of the feed box entering and exiting the tray; a part of the clamping assembly is positioned above the connecting bracket, and the rest part of the clamping assembly is positioned above the tray body;

the adjusting mechanism is arranged on the connecting support.

8. The tray assembly of claim 7, wherein the connection bracket comprises a first connection plate and a second connection plate, the first connection plate being connected with the tray body;

the second connecting plate is arranged on the first connecting plate, and a second preset included angle is formed between the second connecting plate and the first connecting plate;

the second connecting plate is provided with a through hole, and the linear bearing penetrates through the through hole.

9. The tray assembly of any one of claims 4-8, wherein the clamping assembly further comprises a second baffle and a third baffle;

one end of the first baffle is rotatably connected to the tray through a first hinge shaft; the other end of the first baffle is hinged with the second baffle;

one end of the second baffle, which is away from the first baffle, is hinged with the third baffle;

one end of the third baffle, which is away from the second baffle, is rotationally connected with the tray through a second hinge shaft;

the first hinge shaft constitutes one of the connection portions, and the second hinge shaft constitutes the other of the connection portions.

10. The tray assembly of claim 9, wherein the clamping mechanism further comprises two second elastic return members, one of the second elastic return members is sleeved on the first hinge shaft, the other of the second elastic return members is sleeved on the second hinge shaft, and the two second elastic return members are used for driving one of the clamping mechanisms to move towards the other of the clamping mechanisms when the bin moves out of the tray.

11. A transfer robot comprising a frame, a fork, and a pallet assembly according to any one of claims 1-10;

the tray assembly is arranged on the frame; when the feed box does not enter the tray assembly, one end of the adjusting rod of the tray assembly, which is away from the adjusting head, is contacted with the rack;

the fork is arranged on the frame and moves up and down along the frame.

12. A warehousing system comprising the transfer robot of claim 11.